CN116495609B - Crane sling with swing angle detection device - Google Patents
Crane sling with swing angle detection device Download PDFInfo
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- CN116495609B CN116495609B CN202310759872.5A CN202310759872A CN116495609B CN 116495609 B CN116495609 B CN 116495609B CN 202310759872 A CN202310759872 A CN 202310759872A CN 116495609 B CN116495609 B CN 116495609B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application provides a crane lifting appliance with a swing angle detection device, which comprises an upper platform, a rigid connecting rod, four angle adjusting steel ropes, four lifting motors, a lower platform, a CCD camera and a level gauge, wherein the upper platform is provided with a plurality of lifting motors; the rigid connecting rod with the spherical hinge ball head is designed between the upper platform and the lower platform, so that the rigid connecting rod can provide rigid support and simultaneously realize the posture adjustment of the lower platform, thereby driving the object to be hoisted fixed below the rigid connecting rod to carry out the posture adjustment and providing convenience for the completion of assembly; the CCD camera can realize the detection of the pose of monocular vision, and the feedback control lifting motor adjusts the pose of the lower platform, so that the integration level and reliability of the lifting appliance are improved, and a good technical effect is achieved.
Description
Technical Field
The application relates to the technical field of crane lifting appliance adjustment, in particular to a crane lifting appliance with a swing angle detection device, which is suitable for lifting objects needing posture adjustment, in particular to lifting various large non-standard parts in the fields of chemical industry, aviation, aerospace, weapons and the like.
Background
The hoisting of the large piece is the operation process of moving the large piece from the original position to another position by hoisting equipment. At present, the common technical scheme in the industry generally only can realize horizontal lifting and translation of a lifting target object, can not finish multi-angle lifting, and can not stably realize that the target object finishes posture adjustment and maintenance in the lifting movement process so as to provide convenience for subsequent installation and debugging of workpieces.
In the prior art, the posture adjustment and maintenance often need to be completed manually on site by workers, but because the lifting sling often is flexible (a steel cable or a chain), the actual operation of the work is time-consuming and labor-consuming, the precision is difficult to maintain even after the adjustment is finished, and serious potential safety hazards (such as falling of a workpiece to hurt people or collision damage of the workpiece) exist. For example, in the aerospace field, in the process of docking a thermal protection large roof (for resisting high-temperature ablation of the returning device by the atmosphere in the returning process) of a certain type of aerospace returning device with a cabin body, from lifting to finishing of installation, large-size precise measurement is required to be performed through electronic theodolite station building or total station building, repeated measurement and iterative adjustment are required for a plurality of times, and a day is required to achieve a result which finally meets requirements.
In summary, the prior art mainly has the following problems: (1) The traditional lifting appliance can not realize the gesture adjustment of the workpiece, so that the total assembly time is prolonged; (2) Even if the traditional lifting appliance manually completes the posture adjustment of a workpiece, the state is difficult to stably maintain, and great deviation is often caused by the movement of lifting equipment.
It is therefore necessary to provide a crane spreader with a swing angle detection device to accommodate the lifting of objects requiring attitude adjustment.
Disclosure of Invention
In order to make up for the defects, the application provides a crane lifting appliance with a swing angle detection device.
The application relates to a crane lifting appliance with a swing angle detection device, which can provide rigid support for an object to be lifted, on the basis, the posture of the object to be lifted is adjusted through a flexible steel rope, a solid foundation is provided for subsequent assembly, and the swing angle detection device can ensure the accuracy of the posture of the object to be lifted.
The application is realized by adopting the following technical means.
A crane sling with a swing angle detecting device includes.
The device comprises a height adjusting mechanism, a rotating mechanism, an upper platform, a rigid connecting rod, four angle adjusting steel cables, four lifting motors, a lower platform, a CCD camera, a target scale and a level gauge.
The upper end of the height adjusting mechanism is fixedly connected with the lower end of the trolley mechanism of the lifting device, the lower end of the height adjusting mechanism is fixedly connected with the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected with the center position of the top surface of the upper platform; the upper end of the rigid connecting rod is fixedly connected with the central position of the bottom surface of the upper platform, the lower end of the rigid connecting rod is provided with a lower spherical hinge ball head, the lower spherical hinge ball head at the lower end of the rigid connecting rod is arranged in the lower platform, the rigid connecting rod provides a rigid support for the lower platform through the lower spherical hinge ball head, and the lower platform can realize rotation angle adjustment by means of the lower spherical hinge ball head arranged on the lower connecting rod.
The upper platform and the lower platform are square structures, and lifting motors are respectively arranged at the four corners of the upper platform; the lower ends of the four angle adjusting steel cables are respectively connected with four end angles of the upper surface of the lower platform, the upper ends of the four angle adjusting steel cables are connected with output shafts of lifting motors in the corresponding upper platforms, and tension sensors are arranged on the four angle adjusting steel cables; the tension sensor is used for monitoring the tension applied to the angle-adjusting steel cable; in the process of driving the angle adjusting steel rope, if the value of the tension sensor exceeds a first threshold value, the rotation speed of the lifting motor corresponding to the angle adjusting steel rope is reduced, and if the value of the tension sensor exceeds a second threshold value, the lifting motor corresponding to the angle adjusting steel rope is immediately stopped, and the second threshold value is larger than the first threshold value.
A CCD camera is arranged on the lower surface of the upper platform, a target scale opposite to the CCD camera is arranged on the upper surface of the lower platform, and a level gauge is further arranged on the lower platform; the CCD camera, the target scale and the level gauge form a swing angle detection device, so that the swing angle detection of the lower platform is realized.
The lower surface of the lower platform is provided with a plurality of T-shaped grooves and threaded holes in an array mode, the special lifting tool is used for fixing and clamping the lifting object, and the special lifting tool is used for determining the initial pose of the lifting object.
Preferably, the target scale is an isosceles right triangle on which four targets are arranged in total, the distance between the targets is known, three targets are arranged on the inclined edge at equal intervals, and two targets are arranged on each right angle edge.
Preferably, the height adjusting mechanism is a hydraulic cylinder, an air cylinder or an electric push rod.
Preferably, the rotation mechanism is an electric turntable.
Preferably, four steel rope guide mechanisms are arranged in the lower position of the middle part of the rigid connecting rod, and the angle adjusting steel rope passes through the steel rope guide mechanisms and is connected with the output shaft of the lifting motor in the corresponding upper platform.
Preferably, the wire rope guide mechanism is a guide pulley with a rotating shaft fixed in a position below the middle of the rigid link.
Preferably, a guide pulley is provided on the lower surface of the upper platform to adjust the direction of the wire rope for angle adjustment.
On the other hand, the application also discloses a crane sling with the swing angle detection device, which comprises the following components:
the device comprises a height adjusting mechanism, a rotating mechanism, an upper platform, a rigid connecting rod, four angle adjusting steel cables, four lifting motors, a lower platform, a CCD camera, a projector and a level gauge.
The upper end of the height adjusting mechanism is fixedly connected with the lower end of the trolley mechanism of the lifting device, the lower end of the height adjusting mechanism is fixedly connected with the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected with the center position of the top surface of the upper platform; the center position of the rigid connecting rod is connected with the upper spherical hinge ball head arranged at the upper end of the rigid connecting rod, the upper spherical hinge ball head of the rigid connecting rod is arranged in the upper platform, the lower end of the rigid connecting rod is fixedly connected with the center position of the upper surface of the lower platform, the rigid connecting rod provides a rigid support for the lower platform, and the lower platform can realize rotation angle adjustment through the upper spherical hinge ball head.
The upper platform and the lower platform are square structures, and lifting motors are respectively arranged at the four corners of the upper platform; the lower ends of the four angle adjusting steel cables are respectively connected with four end angles of the upper surface of the lower platform, four steel cable guide mechanisms are arranged in the lower position of the middle part of the rigid connecting rod, and the angle adjusting steel cables pass through the steel cable guide mechanisms and are connected with the output shafts of lifting motors in the corresponding upper platforms; the four angle adjusting steel cables can flexibly realize the angle adjustment of the lower platform through the driving of the four lifting motors; and tension sensors are arranged on the four angle adjusting steel cables.
A cavity for accommodating the ball head of the upper spherical hinge is formed in the lower part of the upper platform, and a conical hole with a large upper part and a small lower part is formed in the lower part of the cavity; a cylindrical cavity is formed at the upper part of the cavity, and a CCD camera and a projector are fixedly arranged at the inner side of the upper wall of the upper platform at the upper part of the cavity; the top of the upper spherical hinge ball head is cut off to form a target surface parallel to the lower platform, the height of the cut-off part is not larger than the diameter of the ball body, and the projector can project a target point on the target surface.
The CCD camera, the projector and the level instrument form a swing angle detection device, so that the swing angle detection of the lower platform is realized.
Preferably, during driving, if the value of the tension sensor exceeds a first threshold value, the lift motor corresponding to the angle-adjusting wire rope will run at a reduced rotation speed, and if the value of the tension sensor exceeds a second threshold value, the lift motor corresponding to the angle-adjusting wire rope will immediately stop, the second threshold value being greater than the first threshold value.
The lower surface of the lower platform is provided with a plurality of T-shaped grooves and threaded holes in an array manner, and is used for fixing and clamping a special lifting appliance for lifting an object; the special lifting appliance ensures the initial pose of the lifted object.
Compared with the prior art, the application has the following advantages.
(1) The crane sling in the prior art is generally a rigid sling designed for specific products or a common steel rope flexible sling and does not have a gesture adjusting function, and the application designs a rigid connecting rod with a spherical hinge ball head between an upper platform and a lower platform, and the rigid connecting rod can realize gesture adjustment of the lower platform while providing rigid support, thereby driving an object to be hoisted fixed below the rigid connecting rod to carry out gesture adjustment.
(2) Through setting up high adjustment mechanism, rotary mechanism, rigid connecting rod, four angle modulation cables can realize the adjustment of the angle and the displacement of a plurality of dimensions, can adjust the pose of waiting the object of hoist and mount effectively to realize quick assembly.
(3) The lifting appliance can realize the timely detection of the pose by combining a monocular visual pose detection device, and the lifting motor is controlled by feedback to adjust the pose; compared with the existing schemes of other inertial elements (gyroscopes and/or accelerometers) or schemes of using other optical angle sensors, the swing angle detection scheme effectively reduces cost, achieves good application effects on the premise of meeting the precision requirement, is simple and visual in principle, and is suitable for on-site workers.
(4) Four steel rope guide mechanisms are arranged at the lower position of the middle part of the rigid connecting rod, which is equivalent to lowering the position of the fixed end of the steel rope, so that the stability of the lower platform can be effectively improved.
(5) The technical scheme that the CCD camera and the projector are arranged in the upper platform can effectively avoid the fixed deformation of the target scale and the influence of the thermal expansion coefficient of the target scale, and the CCD camera is arranged in the cavity, so that the interference of the external environment on the CCD camera can be effectively avoided; further improves the integration level and reliability of the lifting appliance and obtains better technical effect.
Drawings
Fig. 1 shows a schematic structure of a crane spreader with a swing angle detector.
Fig. 2 is a schematic diagram showing the structure of the target scale.
Fig. 3 shows a schematic structural view of another embodiment of the crane spreader with the swing angle detecting device shown in fig. 1.
Fig. 4 shows a schematic construction of another embodiment of a crane spreader with a sway angle detection arrangement.
Fig. 5 is a schematic diagram showing the structure of the upper ball hinge and the swing angle detecting device.
Fig. 6 is a schematic diagram showing the operation of the control unit.
Reference numerals are as follows.
1-height adjusting mechanism, 2-rotating mechanism, 3-upper platform, 4-rigid connecting rod, 5-lower platform, 6-angle adjusting steel cable, 7-lifting motor, 8-tension sensor, 9-CCD camera, 10-target scale, 11-level gauge, 12-T-shaped groove, 13-steel cable guiding mechanism, 14 lower spherical hinge ball head, 15-upper spherical hinge ball head, 16-projector, 31-taper hole, 32-cavity, 151-target surface.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present application are shown.
Example 1
Fig. 1 shows a crane spreader 100 with a swing angle detecting device, comprising: the device comprises a height adjusting mechanism 1, a rotating mechanism 2, an upper platform 3, a rigid connecting rod 4, four angle adjusting steel cables 6, four lifting motors 7, a lower platform 5, a CCD camera 9, a target ruler 10 and a level 11.
The upper end of the height adjusting mechanism 1 is fixedly connected with the lower end of a trolley mechanism of the lifting device, the lower end of the height adjusting mechanism 1 is fixedly connected with a fixed part of the rotating mechanism 2, and the rotating part of the rotating mechanism 2 is fixedly connected with the center position of the top surface of the upper platform 3; the upper end of the rigid connecting rod 4 is fixedly connected with the central position of the bottom surface of the upper platform 3, the lower end of the rigid connecting rod 4 is provided with a lower spherical hinge ball head 14, the lower spherical hinge ball head 14 at the lower end of the rigid connecting rod 4 is arranged in the lower platform 5, the rigid connecting rod 4 provides a rigid support for the lower platform 5 through the lower spherical hinge ball head 14, and the lower platform 5 can realize rotation angle adjustment by means of the lower spherical hinge ball head 14 arranged on the rigid connecting rod.
The upper platform 3 and the lower platform 5 are square structures with certain thickness, and lifting motors 7 are respectively arranged at the positions of the inner 4 corners of the upper platform 3; the lower ends of the four angle adjusting steel cables 6 are respectively connected with four end angles of the upper surface of the lower platform 5, and the upper ends of the four angle adjusting steel cables are connected with the output shafts of the lifting motors 7 in the corresponding upper platforms 3. The four angle adjusting steel ropes 6 can flexibly realize the angle adjustment of the lower platform 5 through the driving of the four lifting motors 7. The four angle adjusting steel ropes 6 are all provided with a tension sensor 8, the tension sensor 8 is used for monitoring the tension magnitude born by the angle adjusting steel ropes 6, the tension of the angle adjusting steel ropes 6 is ensured to be within a certain range in the process of adjusting the angle of the lower platform 5 or keeping the posture of the lower platform 5 so as not to cause danger, in the driving process, if the value of the tension sensor 8 exceeds a first threshold value, the rotation speed of the lifting motor 7 corresponding to the angle adjusting steel ropes 6 is reduced, and if the value of the tension sensor 8 exceeds a second threshold value, the lifting motor 7 corresponding to the angle adjusting steel ropes 6 is stopped immediately, and the second threshold value is larger than the first threshold value.
A CCD camera 9 is arranged on the lower surface of the upper platform 3, a target scale 10 is arranged on the upper surface of the lower platform 5, and a level meter 11 is also arranged on the lower platform 5; the CCD camera 9, the target ruler 10 and the level meter 11 form the swing angle detection device, and can jointly realize the swing angle detection of the lower platform 5. The level meter 11 is used for detecting the level state of the lower platform 5 and plays an important role in the calibration process of the CCD camera 9; the CCD camera 9 and the target ruler 10 can realize the swing angle detection of the lower platform 5, and the specific process will be described in detail later.
The lower surface of the lower platform 5 is provided with a plurality of T-shaped grooves 12 and threaded holes in an array manner, and the lower surface of the lower platform can be used for fixing and clamping a special lifting appliance for lifting an object, and the installation position of the special lifting appliance can be flexibly selected according to the specific shape and characteristics of the lifting object. The special lifting appliance can ensure the initial pose of the lifted object.
As shown in fig. 2, the target ruler 10 is in the shape of an isosceles right triangle, on which four targets are arranged, the distances between the targets are known, wherein three targets are arranged on the inclined edge at equal intervals, and two targets are arranged on each right-angle edge, because the angle adjustment precision requirement of the lifting sling is not particularly high, so that a plurality of target points are not required to be arranged to increase the resolving precision, but the X-axis direction, the Y-axis direction and the diagonal direction of the lower platform 5 which are focused on are considered, and therefore, the isosceles right triangle with four targets is selected, so that the calculation amount can be reduced, the burden of the control unit can be reduced, the calculating speed can be improved, and all the focused space information is covered. The target scale 10 is made of carbon fiber materials, so that the influence of the environmental temperature of a factory building on the target scale can be effectively reduced, and the influence of the thermal expansion coefficient is basically eliminated. The target scale 10 is fixed on the upper surface of the lower stage 5 by pressing plates in opposition to the position of the CCD camera 9. The target scale 10 has only one fixed point, so that deformation of the target scale 10 caused by a plurality of fixed points can be avoided as much as possible to influence pose measurement accuracy.
Preferably, at least one target point different from the four targets on the target scale 10 can also be provided, so as to provide more spatial information and improve measurement accuracy.
In an embodiment, the maximum measurement distance of the camera is 1 meter, the resolution of the camera is 1292 pixels×964 pixels, the pixel size is 3.75 μm×3.75 μm, and the lens focal length is 3.6mm. The distance between the target points is between 10cm and 20 cm.
The operation of the crane spreader 100 with the swing angle detecting means is as follows.
(1) Fixedly mounting an object to be hoisted on the lower surface of the lower platform 5 by using a special clamp; detecting the horizontal initial state of the lower platform 5 through a level meter 11, and driving an angle adjusting steel cable 6 through four lifting motors 7 to adjust the horizontal state of the lower platform 5 to reach an expected range; in the horizontal initial state, a reference standard can be provided for subsequent adjustment.
(2) The CCD camera 9 collects images of the target scale 10 in a horizontal state of the lower platform 5; according to the parameters of the assembly of the object to be hoisted, the lifting displacement quantity corresponding to the four angle adjusting steel ropes 6 is calculated (the displacement quantity can be converted into the rotation number of the lifting motor 7, and the displacement quantity can be monitored by a displacement sensor when the lifting motor drives the angle adjusting steel ropes 6).
(3) Referring to fig. 6, the control unit controls the four lifting motors 7 to cooperatively move to drive the lower platform 5 to rotate around the lower spherical hinge ball head 14; at this time, four tension sensors 8 provided on the four angle-adjusting wire ropes 6 monitor the tension of the angle-adjusting wire ropes 6 (if the value of the tension sensor 8 exceeds a first threshold, the elevating motor 7 corresponding to this angle-adjusting wire rope 6 will decrease the rotation speed, if the value of the tension sensor 8 exceeds a second threshold, the elevating motor 7 corresponding to this angle-adjusting wire rope 6 will be immediately stopped), while the CCD camera 9 captures images of the target scales 10 of different poses, and the control unit extracts the images of the target scales 10, extracts the characteristic points thereon, calibrates the CCD camera internal parameters, and solves the poses.
(4) If the calculated position and posture (namely the swing angle) and the expected value are within the threshold range, the trolley mechanism drives the object to be hoisted to move to a workpiece assembled with the object to be hoisted, and the height of the object to be hoisted and the angle adjustment around the vertical direction are realized through the height adjusting mechanism 1 and the rotating mechanism 2, so that the final assembly is realized; if the error between the calculated pose (i.e. the swing angle) and the expected value exceeds the threshold range, the lifting displacement amount corresponding to the four angle adjustment cables 6 is calculated again, and the step (3) is executed.
In step (3), the control unit controls the four elevating motors 7 to cooperatively move, preferably, the two angle-adjusting wires 6 in one diagonal direction are controlled to be elevated first, and then the two angle-adjusting wires 6 in the other diagonal direction are controlled to be elevated.
In the above embodiment, any mature visual analysis algorithm in the prior art can be selected as the pose resolving algorithm, related researches are started in the eighties of the last century, and a plurality of algorithms for resolving spatial positions and poses by using image information, especially a monocular visual pose resolving method based on feature points, can be selected by a person skilled in the art according to actual measurement accuracy and calculation capability.
The height adjusting mechanism 1 in the above embodiment may be a hydraulic device, a pneumatic device, or an electric telescopic device, such as a hydraulic cylinder, a cylinder, or an electric push rod.
The rotation mechanism 2 in the above embodiment may be an electric turntable.
As shown in fig. 6, the level 11, the four tension sensors 8, and the CCD camera 9 are all electrically connected to a control unit, and the control unit sends control instructions to the height adjusting mechanism 1, the four lifting motors 7, and the rotating mechanism 2 according to sensor signals or external instructions.
The crane lifting appliance 100 with the swing angle detection device in the first embodiment can realize the adjustment of angles and displacements of multiple dimensions by arranging the height adjusting mechanism 1, the rotating mechanism 2, the rigid connecting rod 4 and the four angle adjusting steel ropes 6, and can efficiently adjust the pose of an object to be lifted, thereby realizing quick assembly; by detecting the pose of monocular vision, the pose can be detected in time, and the lifting motor is controlled by feedback to adjust the pose. Compared with other existing inertial element schemes or schemes using other optical angle sensors (such as grating code plates), the swing angle detection scheme effectively reduces cost, achieves good application effect on the premise of meeting the precision requirement, is simple and visual in principle, is suitable for field workers, and can be shortened to be within half an hour from the original one day when in hoisting.
Example two
The embodiment is further improved in the stage stability of the lower stage 5 compared with the first embodiment.
In the first embodiment, the lower ends of the four angle adjusting steel cables 6 are respectively connected with the four end angles of the upper surface of the lower platform 5, the upper ends thereof are connected with the output shafts of the lifting motors 7 in the corresponding upper platforms 3, and the design is convenient for the lifting motors to adjust the angle of the lower platform 5 through the angle adjusting steel cables 6, but the stability of the lower platform 5 is poor.
Therefore, in the second embodiment, as shown in fig. 3, in the crane sling 200 with the swing angle detecting device, four wire rope guiding mechanisms 13 are arranged at the lower position of the middle part of the rigid connecting rod 4, the angle adjusting wire rope 6 passes through the wire rope guiding mechanisms 13 and is connected with the output shaft of the lifting motor 7 in the corresponding upper platform 3, the position of the fixed end of the wire rope is reduced, the stability of the lower platform 5 can be effectively improved, and the finite element software analysis shows that under the same condition, the wire rope guiding mechanisms 13 are arranged at the positions of 1/3 to 1/2 of the height of the rigid connecting rod 4, and the vibration amplitude of the lower platform 5 is reduced by more than half.
The cable guide mechanism 13 may be a guide ring, and preferably, the cable guide mechanism 13 is a guide pulley whose rotation axis is fixed at a position below the middle of the rigid link 4.
Preferably, a guide pulley is also provided on the lower surface of the upper platform 3 to adjust the direction of the angle-adjusting wire rope 6.
The rest of the technical solutions in the second embodiment are the same as those in the first embodiment.
Example III
After the platform stability of the lower platform 5 is improved through the second pair of embodiments, the angle adjusting steel cable 6 passes through the steel cable guide mechanism 13 firstly, and is connected with the lifting motor 7 through the guide pulley arranged on the lower surface of the upper platform 3, so that the platform stability of the lower platform 5 is effectively improved, but the four angle adjusting steel cables 6 gather towards the rigid connecting rod 4, so that the field of view of the CCD camera is affected, and in order to solve the problem, the technical scheme of the third embodiment is obtained for further improving the integration level and the reliability of the device.
Fig. 4 shows a crane spreader 300 with a swing angle detecting device, comprising: the device comprises a height adjusting mechanism 1, a rotating mechanism 2, an upper platform 3, a rigid connecting rod 4, four angle adjusting steel cables 6, four lifting motors 7, a lower platform 5, a CCD camera 9, a projector 16 and a level 11.
The upper end of the height adjusting mechanism 1 is fixedly connected with the lower end of a trolley mechanism of the lifting device, the lower end of the height adjusting mechanism 1 is fixedly connected with a rotating part of a fixed part rotating mechanism 2 of the rotating mechanism 2, and the rotating part of the fixed part rotating mechanism 2 is fixedly connected with the center position of the top surface of the upper platform 3; the center position of the rigid connecting rod 4 and the center position of the upper platform 3 are connected through an upper spherical hinge ball head 15 arranged at the upper end of the rigid connecting rod 4, the upper spherical hinge ball head 15 of the rigid connecting rod 4 is arranged in the upper platform 3, the lower end of the rigid connecting rod 4 is fixedly connected with the center position of the upper surface of the lower platform 5, the rigid connecting rod 4 provides a rigid support for the lower platform 5, and the lower platform 5 can realize rotation angle adjustment through the upper spherical hinge ball head 15.
The upper platform 3 and the lower platform 5 are square structures with certain thickness, and lifting motors 7 are respectively arranged at the positions of the inner 4 corners of the upper platform 3; the lower ends of the four angle adjusting steel cables 6 are respectively connected with four end angles of the upper surface of the lower platform 5, four steel cable guide mechanisms 13 are arranged in the lower position of the middle part of the rigid connecting rod 4, and the angle adjusting steel cables 6 pass through the steel cable guide mechanisms 13 and are connected with the output shafts of the lifting motors 7 in the corresponding upper platforms 3. The four angle adjusting steel ropes 6 can flexibly realize the angle adjustment of the lower platform 5 through the driving of the four lifting motors 7. The four angle adjusting steel ropes 6 are all provided with a tension sensor 8, the tension sensor 8 is used for monitoring the tension intensity received by the angle adjusting steel ropes 6, the tension of the angle adjusting steel ropes 6 is ensured to be within a certain range in the process of adjusting the angle of the lower platform 5 or keeping the posture of the lower platform 5 so as not to cause danger, in the driving process, if the value of the tension sensor 8 exceeds a first threshold value, the rotation speed of the lifting motor 7 corresponding to the angle adjusting steel ropes 6 is reduced, and if the value of the tension sensor 8 exceeds a second threshold value, the lifting motor 7 corresponding to the angle adjusting steel ropes 6 is stopped immediately, and the second threshold value is larger than the first threshold value.
Fig. 5 is a schematic structural diagram of the upper ball hinge structure and the swing angle detecting device. A cavity for accommodating the upper spherical hinge ball head 15 is formed in the lower part of the upper platform 3, and a taper hole 31 with a large upper part and a small lower part is formed at the lower part of the cavity, so that the rigid connecting rod 4 can conveniently move without interference with the upper platform 3; a cylindrical cavity 32 is formed at the upper part of the cavity, and a CCD camera 9 and a projector 16 are fixedly arranged at the inner side of the upper wall of the upper platform 3 at the upper part of the cavity 32. The top of the upper spherical hinge ball 15 is cut to form a target surface 151 parallel to the lower platform 5, the height of the cut part is not more than 1/4 of the diameter of the ball, and the projector 16 can project a target point on the target surface 151.
Because the size of the target surface 151 is smaller, and the projector 16 is adopted to project the target point on the target surface 151, the influence of the fixed deformation and the thermal expansion coefficient of the target scale can be effectively avoided, the target surface 151 and the lower platform 5 are parallel to each other so as to represent the pose of the lower platform 5, the CCD camera 9 is arranged in the cavity 32, and the interference of the external environment to the CCD camera 9 (such as shielding of an angle adjusting steel cable, external dust pollution and the like) can be effectively avoided.
A level meter 11 is also arranged on the lower platform 5; the CCD camera 9, the projector 16 and the level 11 constitute the swing angle detecting device according to the present embodiment, and can jointly detect the swing angle of the lower platform 5. The level 11 is used to detect the level of the lower platform 5.
The lower surface of the lower platform 5 is provided with a plurality of T-shaped grooves 12 and threaded holes in an array manner, and the lower surface of the lower platform can be used for fixing and clamping a special lifting appliance for lifting an object, and the installation position of the special lifting appliance can be flexibly selected according to the specific shape and characteristics of the lifting object. The special lifting appliance can ensure the initial pose of the lifted object.
The crane spreader 300 with the swing angle detecting means operates as follows.
(1) Fixedly mounting an object to be hoisted on the lower surface of the lower platform 5 by using a special clamp; detecting the horizontal initial state of the lower platform 5 through a level meter 11, and driving an angle adjusting steel cable 6 through four lifting motors 7 to adjust the horizontal state of the lower platform 5 to reach an expected range; in the horizontal initial state, a reference standard can be provided for subsequent adjustment.
(2) The CCD camera 9 collects the image projected on the target surface 151 by the projector 16 in the horizontal state of the lower platform 5; according to the parameters of the assembly of the object to be hoisted, the lifting displacement quantity corresponding to the four angle adjusting steel ropes 6 is needed to be solved and calculated (the displacement quantity can be converted into the rotation number of the lifting motor 7, and the displacement quantity can be monitored through a displacement sensor when the lifting motor drives the angle adjusting steel ropes 6).
(3) Referring to fig. 6, the control unit controls the four lifting motors 7 to cooperatively move to drive the lower platform 5 to rotate around the upper spherical hinge ball 15; at this time, four tension sensors 8 provided on the four angle-adjusting wire ropes 6 monitor the tension of the angle-adjusting wire ropes 6 (if the value of the tension sensor 8 exceeds a first threshold, the elevating motor 7 corresponding to this angle-adjusting wire rope 6 will decrease the rotation speed, if the value of the tension sensor 8 exceeds a second threshold, the elevating motor 7 corresponding to this angle-adjusting wire rope 6 will be immediately stopped), while the CCD camera 9 captures images of the target surfaces 151 of different poses, and the control unit extracts the images of the target surfaces 151, extracts the feature points thereon, calibrates the CCD camera internal parameters, and solves the poses.
(4) If the calculated position and posture (namely the swing angle) and the expected value are within the threshold range, the trolley mechanism drives the object to be hoisted to move to a workpiece assembled with the object to be hoisted, and the height of the object to be hoisted and the angle around the vertical direction are adjusted through the height adjusting mechanism 1 and the rotating mechanism 2, so that the assembly is finally completed; if the error between the calculated pose (i.e. the swing angle) and the expected value exceeds the threshold range, the lifting displacement amount corresponding to the four angle adjustment cables 6 is calculated again, and the step (3) is executed.
The height adjusting mechanism 1 in the above embodiment may be a hydraulic device, a pneumatic device, or an electric telescopic device, such as a hydraulic cylinder, a cylinder, or an electric push rod.
The rotation mechanism 2 in the above embodiment may be an electric turntable.
As shown in fig. 6, the level 11, the four tension sensors 8, and the CCD camera 9 are all electrically connected to a control unit, and the control unit sends control instructions to the height adjusting mechanism 1, the four lifting motors 7, and the rotating mechanism 2 according to sensor signals or external instructions. Unlike the first embodiment, the projector 16 is also electrically connected to the control unit.
The embodiment can improve the integration level and reliability of the lifting appliance, has better technical effects compared with the two previous embodiments, is not limited by the CCD camera in each embodiment, and can also select other types of suitable imaging devices.
In pose calculation, theoretically, the larger the size between target points is, the higher the measurement accuracy of the pose is, so that the distance between the target points in embodiment 1 is between 10cm and 20cm, and the larger the target ruler is, the measurement accuracy is improved as much as possible under the condition allowed by the condition, because the angle adjusting steel cable 6 does not interfere with the measurement of the camera at this time; in the second embodiment, after the four angle adjusting cables 6 pass through the cable guiding mechanism 13, the field of view of the camera is severely disturbed, and the size of the target scale is correspondingly affected, so that the second embodiment improves the stability of the lifting appliance, but sacrifices the accuracy of measuring part of the pose; in the third embodiment, the spherical hinge ball head is creatively moved from the lower part to the upper part of the rigid connecting rod, and the target surface 151 parallel to the lower platform 5 is arranged on the spherical hinge ball head, so that the projector 16 can project a target point on the target surface 151, the pose measurement is carried out in a closed environment, the interference of the external environment can be effectively avoided, the displacement in the depth direction of the target surface 151 is reduced due to the reduced area of the target surface 151, the requirement on the depth of field of a camera is correspondingly reduced, the cost can be effectively reduced, and finally the actual pose precision is slightly reduced (within 8% of the difference) compared with that of the first embodiment and the second embodiment, but the spherical hinge ball head has great advantages in the aspects of equipment integration, reliability, cost control and the like.
The foregoing description is only a preferred embodiment of the present application, and is not intended to limit the present application, but the present application is described in detail with reference to the foregoing embodiments, and it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof. Any modifications and equivalent substitutions are intended to be included within the scope of the present application, which is also encompassed within the spirit and principles of the present application.
Claims (7)
1. A crane spreader with a sway angle detection device, comprising: the device comprises a height adjusting mechanism, a rotating mechanism, an upper platform, a rigid connecting rod, four angle adjusting steel cables, four lifting motors, a lower platform, a CCD (charge coupled device) camera, a target scale and a level gauge;
the upper end of the height adjusting mechanism is fixedly connected with the lower end of the trolley mechanism of the lifting device, the lower end of the height adjusting mechanism is fixedly connected with the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected with the center position of the top surface of the upper platform; the upper end of the rigid connecting rod is fixedly connected with the central position of the bottom surface of the upper platform, the lower end of the rigid connecting rod is provided with a lower spherical hinge ball head, the lower spherical hinge ball head at the lower end of the rigid connecting rod is arranged in the lower platform, the rigid connecting rod provides a rigid support for the lower platform through the lower spherical hinge ball head, and the lower platform can realize rotation angle adjustment by means of the lower spherical hinge ball head arranged on the lower connecting rod;
the upper platform and the lower platform are square structures, and lifting motors are respectively arranged at the four corners of the upper platform; the lower ends of the four angle adjusting steel cables are respectively connected with four end angles of the upper surface of the lower platform, the upper ends of the four angle adjusting steel cables are connected with output shafts of lifting motors in the corresponding upper platforms, and the four angle adjusting steel cables are respectively provided with a tension sensor used for monitoring the tension applied to the angle adjusting steel cables; in the driving process of the angle adjusting steel rope, if the numerical value of the tension sensor exceeds a first threshold value, the rotation speed of the lifting motor corresponding to the angle adjusting steel rope is reduced, and if the numerical value of the tension sensor exceeds a second threshold value, the lifting motor corresponding to the angle adjusting steel rope is immediately stopped, wherein the second threshold value is larger than the first threshold value;
a CCD camera is arranged on the lower surface of the upper platform, a target scale opposite to the CCD camera is arranged on the upper surface of the lower platform, and a level gauge is further arranged on the lower platform; the CCD camera, the target scale and the level gauge form a swing angle detection device, so that the swing angle detection of the lower platform is realized;
the lower surface of the lower platform is provided with a plurality of T-shaped grooves and threaded holes in an array manner, and is used for fixing and clamping a special lifting appliance for lifting an object, and the special lifting appliance is used for determining the initial pose of the lifting object;
the target scale is an isosceles right triangle, four targets are arranged on the isosceles right triangle, the distance between the targets is known, three targets are arranged on the inclined edge at equal intervals, and two targets are arranged on each right angle edge;
four steel rope guide mechanisms are arranged in the lower position of the middle part of the rigid connecting rod, and angle adjusting steel ropes penetrate through the steel rope guide mechanisms and then are connected with output shafts of lifting motors in the corresponding upper platforms;
the steel rope guide mechanism is a guide pulley with a rotating shaft fixed at the lower position of the middle part of the rigid connecting rod;
the working process of the crane sling with the swing angle detecting device is as follows:
(1) Fixedly mounting an object to be hoisted on the lower surface of the lower platform by using a special clamp; detecting the horizontal initial state of the lower platform through a level gauge, and adjusting the horizontal state of the lower platform to reach an expected range through four lifting motor driving angle adjusting steel ropes; providing a reference standard for subsequent adjustment in a horizontal initial state;
(2) The CCD camera collects images of the target scaleplate in a horizontal state of the lower platform; according to the parameters of the assembly of the object to be hoisted, the lifting displacement corresponding to the four angle adjusting steel ropes is calculated;
(3) The control unit controls the four lifting motors to cooperatively move to drive the lower platform to rotate around the lower spherical hinge ball head; the four tension sensors arranged on the four angle adjusting steel cables monitor the tension of the angle adjusting steel cables, meanwhile, the CCD cameras collect images of target scales with different poses, and the control unit extracts the images of the target scales, extracts characteristic points on the images, calibrates internal parameters of the CCD cameras and calculates the poses;
(4) If the calculated position and the calculated error of the expected value are within the threshold range, the trolley mechanism drives the object to be hoisted to move to a workpiece assembled with the object to be hoisted, and the height of the object to be hoisted and the angle adjustment around the vertical direction are realized through the height adjusting mechanism and the rotating mechanism, so that the final assembly is realized; if the error between the calculated pose and the expected value exceeds the threshold range, the lifting displacement corresponding to the four angle adjusting steel cables is calculated again, and the step (3) is executed.
2. The crane spreader of claim 1, wherein the height adjustment mechanism is a hydraulic ram, cylinder, or electric pushrod.
3. The crane spreader of claim 1, wherein the rotation mechanism is an electric turntable.
4. The crane sling as defined in claim 1, wherein the lower surface of the upper platform is provided with guide pulleys for adjusting the direction of the wire rope for angle adjustment.
5. A crane spreader with a sway angle detection device, comprising: the device comprises a height adjusting mechanism, a rotating mechanism, an upper platform, a rigid connecting rod, four angle adjusting steel cables, four lifting motors, a lower platform, a CCD camera, a projector and a level gauge;
the upper end of the height adjusting mechanism is fixedly connected with the lower end of the trolley mechanism of the lifting device, the lower end of the height adjusting mechanism is fixedly connected with the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected with the center position of the top surface of the upper platform; the center position of the rigid connecting rod is connected with the upper spherical hinge ball head arranged at the upper end of the rigid connecting rod, the upper spherical hinge ball head of the rigid connecting rod is arranged in the upper platform, the lower end of the rigid connecting rod is fixedly connected with the center position of the upper surface of the lower platform, the rigid connecting rod provides a rigid support for the lower platform, and the lower platform can realize rotation angle adjustment through the upper spherical hinge ball head;
the upper platform and the lower platform are square structures, and lifting motors are respectively arranged at the four corners of the upper platform; the lower ends of the four angle adjusting steel cables are respectively connected with four end angles of the upper surface of the lower platform, four steel cable guide mechanisms are arranged in the lower position of the middle part of the rigid connecting rod, and the angle adjusting steel cables pass through the steel cable guide mechanisms and are connected with the output shafts of lifting motors in the corresponding upper platforms; the four angle adjusting steel cables can flexibly realize the angle adjustment of the lower platform through the driving of the four lifting motors; the four angle adjusting steel cables are provided with tension sensors;
a cavity for accommodating the ball head of the upper spherical hinge is formed in the lower part of the upper platform, and a conical hole with a large upper part and a small lower part is formed in the lower part of the cavity; a cylindrical cavity is formed at the upper part of the cavity, and a CCD camera and a projector are fixedly arranged at the inner side of the upper wall of the upper platform at the upper part of the cavity; the top of the upper spherical hinge ball head is cut off to form a target surface parallel to the lower platform, the height of the cut-off part is not greater than the diameter of the ball body, and the projector can project a target point on the target surface;
the CCD camera, the projector and the level gauge form a swing angle detection device, so that the swing angle detection of the lower platform is realized;
the steel rope guide mechanism is a guide pulley with a rotating shaft fixed at the lower position of the middle part of the rigid connecting rod;
the working process of the crane sling with the swing angle detecting device is as follows:
(1) Fixedly mounting an object to be hoisted on the lower surface of the lower platform by using a special clamp; detecting the horizontal initial state of the lower platform through a level gauge, and adjusting the horizontal state of the lower platform to reach an expected range through four lifting motor driving angle adjusting steel ropes; providing a reference standard for subsequent adjustment in a horizontal initial state;
(2) The CCD camera collects images projected on a target surface by the projector in a horizontal state of the lower platform; according to the parameters of the assembly of the object to be hoisted, the lifting displacement corresponding to the four angle adjusting steel ropes is calculated;
(3) The control unit controls the four lifting motors to cooperatively move to drive the lower platform to rotate around the upper spherical hinge ball head; at the moment, four tension sensors arranged on the four angle adjusting steel cables monitor the tension of the angle adjusting steel cables, meanwhile, the CCD cameras collect images of target surfaces of different poses, and the control unit extracts the images of the target surfaces, extracts characteristic points on the images, calibrates internal parameters of the CCD cameras and calculates the poses;
(4) If the calculated position and the calculated error of the expected value are within the threshold range, the trolley mechanism drives the object to be hoisted to move to a workpiece assembled with the object to be hoisted, and the height of the object to be hoisted and the angle adjustment around the vertical direction are realized through the height adjusting mechanism and the rotating mechanism, so that the assembly is finally completed; if the error between the calculated pose and the expected value exceeds the threshold range, the lifting displacement corresponding to the four angle adjusting steel cables is calculated again, and the step (3) is executed.
6. The crane spreader of claim 5, wherein during driving, the hoist motor corresponding to the angle adjustment cable is operated at a reduced rotational speed if the value of the tension sensor exceeds a first threshold value, and is immediately stopped if the value of the tension sensor exceeds a second threshold value, the second threshold value being greater than the first threshold value.
7. The crane sling as defined in claim 5, wherein the lower surface of the lower platform is provided with a plurality of T-shaped grooves and threaded holes in an array for fixedly clamping the special sling for lifting the object; the special lifting appliance is used for determining the initial pose of the lifted object.
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| CN118579661A (en) * | 2024-08-06 | 2024-09-03 | 江苏诺嘉机械有限公司 | Stable hoisting device for preventing heavy object from swinging during hoisting |
| CN118651754A (en) * | 2024-08-21 | 2024-09-17 | 江苏东玖光电科技有限公司 | Automatic hoisting equipment suitable for graphite rotary target material |
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| CN102976200A (en) * | 2012-12-13 | 2013-03-20 | 中联重科股份有限公司 | Hoisting control method, device and system, hoisting tool and hoisting machine |
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| CN115790387A (en) * | 2022-11-03 | 2023-03-14 | 东南大学 | Bridge displacement corner synchronous real-time monitoring method and system based on online camera |
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| JP7251146B2 (en) * | 2019-01-07 | 2023-04-04 | コベルコ建機株式会社 | Lifting gear, lifting gear system and how to use the lifting gear system |
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| JP3131429B1 (en) * | 1999-12-28 | 2001-01-31 | 川崎重工業株式会社 | Crane runout detector |
| CN102976200A (en) * | 2012-12-13 | 2013-03-20 | 中联重科股份有限公司 | Hoisting control method, device and system, hoisting tool and hoisting machine |
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Effective date of registration: 20240204 Address after: No. 68 Nanchanggang Village, Zhaogang Town, Fengqiu County, Xinxiang City, Henan Province, 453315 Patentee after: Henan Zhongwang Heavy Industry Group Co.,Ltd. Country or region after: China Address before: No. 133, Lifting Accessories City, Weizhuang Town, Changyuan City, Xinxiang, Henan Province, 453699 Patentee before: Jinshuo Research and Design Institute (Henan) Co.,Ltd. Country or region before: China |
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